Method and system for dynamically controlling navigation of an autonomous vehicle

A navigation system for dynamically controlling navigation of an autonomous vehicle, the navigation system comprising:

• a processor;
• and
• a memory, communicatively coupled to the processor, wherein the memory stores processor-executable instructions, which on execution, cause the processor to:
• determine a trajectory path, comprising a plurality of path segments including at least one curved path segment and a straight path segment, by adjusting a plurality of waypoints in a base route of the autonomous vehicle and joining the plurality of waypoints using a predefined path planning model;
• determine a start terminal velocity, an end terminal velocity and acceleration of the autonomous vehicle through the at least one unit trajectory section of each of the plurality of path segments in the trajectory path;
• generate a velocity profile distribution for the autonomous vehicle based on the start terminal velocity, the end terminal velocity and the acceleration of the autonomous vehicle through each of the plurality of path segments between a first segment (P1) and a second segment (P2) that are separated in at least one of time or space, wherein generation of the velocity profile distribution for the autonomous vehicle comprises:
• determining a Four-parameter logistic curve (4PL) distribution of the velocity from the first segment (P1) to the second segment (P2) in the trajectory path, wherein the Four-parameter logistic curve (4PL) distribution of the velocity involves:
• performing a slope and velocity adjustment on the at least one of:
• first segment (P1) to the second segment (P2) in the trajectory path, using the “B” parameter, wherein the “B” parameter is directly proportional to distance span of first segment (P1) to the second segment (P2) in the trajectory path;
• and
• control navigation of the autonomous vehicle by applying a dynamic motion command generated based on the velocity profile distribution.

A non-transitory computer readable medium including instructions stored thereon that when processed by at least one processor, cause a navigation system to perform operations comprising:

• determining a trajectory path, comprising a plurality of path segments including at least one curved path segment and a straight path segment, by adjusting a plurality of waypoints in a base route of the autonomous vehicle and joining the plurality of waypoints using a predefined path planning model;
• determining a start terminal velocity, an end terminal velocity and acceleration of the autonomous vehicle through the at least one unit trajectory section of each of the plurality of path segments in the trajectory path;
• generating a velocity profile distribution for the autonomous vehicle based on the start terminal velocity, the end terminal velocity and the acceleration of the autonomous vehicle between a first segment (P1) and a second segment (P2) that are separated in at least one of time or space, wherein generation of the velocity profile distribution for the autonomous vehicle comprises:
• determining a Four-parameter logistic curve (4PL) distribution of the velocity from the first segment (P1) to the second segment (P2) in the trajectory path, wherein the Four-parameter logistic curve (4PL) distribution of the velocity involves:
• performing a slope and velocity adjustment on the at least one of:
• first segment (P1) to the second segment (P2) in the trajectory path, using the “B” parameter, wherein the “B” parameter is directly proportional to distance span of first segment (P1) to the second segment (P2) in the trajectory path;
• and
• controlling navigation of the autonomous vehicle by applying a dynamic motion command generated based on the velocity profile distribution.